Implementation of Tactile Sensing for Palpation in Robot-Assisted Minimally Invasive Surgery: A Review

Konstantinova, Jelizaveta; Jiang, Allen; Althoefer, Kaspar; Dasgupta, Prokar; Nanayakkara, Thrishantha

doi:10.1109/jsen.2014.2325794

Cited by 129 publications

(63 citation statements)

References 101 publications

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“…Thus, the contact interaction between the sensor and the environment can be identified [1]. These sensors and their applications are highly desired in human-robot interaction [2,3], biomedical robotics [4,5] and biomimetic robotics [6] in order to provide effective sensory feedback.…”

Section: Introductionmentioning

confidence: 99%

Development and characterization of silicone embedded distributed piezoelectric sensors for contact detection

Acer

Salerno

Agbeviade

et al. 2015

Smart Mater. Struct.

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Tactile sensing transfers complex interactive information in a most intuitive sense. Such a populated set of data from the environment and human interactions necessitates various degrees of information from both modular and distributed areas. A sensor design that could provide such types of feedback becomes challenging when the target component has a nonuniform, agile, high resolution, and soft surface. This paper presents an innovative methodology for the manufacture of novel soft sensors that have a high resolution sensing array due to the sensitivity of ceramic piezoelectric (PZT) elements, while uncommonly matched with the high stretchability of the soft substrate and electrode design. Further, they have a low profile and their transfer function is easy to tune by changing the material and thickness of the soft substrate in which the PZTs are embedded. In this manuscript, we present experimental results of the soft sensor prototypes: PZTs arranged in a four by two array form, measuring 1.5-2.3 mm in thickness, with the sensitivity in the range of 0.07-0.12 of the normalized signal change per unit force. We have conducted extensive tests under dynamic loading conditions that include impact, step and cyclic. The presented prototype's mechanical and functional capacities are promising for applications in biomedical systems where soft, wearable and high precision sensors are needed.

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Section: Introductionmentioning

confidence: 99%

Development and characterization of silicone embedded distributed piezoelectric sensors for contact detection

Acer

Salerno

Agbeviade

et al. 2015

Smart Mater. Struct.

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“…Palpation probes aim at restituting this capability to the operators of surgical robotic systems. Konstantinova et al [124] have recently (2014) surveyed tactile sensing for palpation in RMIS, discussing manual techniques used in palpation by expert surgeon and common designs of palpation probes. The ongoing research primarily revolves around performance enhancement and cost reduction through novel designs or new implementations.…”

Section: Palpation and Tissue Stiffness Mappingmentioning

confidence: 99%

Haptics in Robot-Assisted Surgery: Challenges and Benefits

Enayati

Momi

Ferrigno

2016

IEEE Rev. Biomed. Eng.

191

131

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Abstract-Robotic surgery is transforming the current surgical practice, not only by improving the conventional surgical methods but also by introducing innovative robot-enhanced approaches that broaden the capabilities of clinicians. Being mainly of manmachine collaborative type, surgical robots are seen as media that transfer pre-and intra-operative information to the operator and reproduce his/her motion, with appropriate filtering, scaling, or limitation, to physically interact with the patient. The field, however, is far from maturity and, more critically, is still a subject of controversy in medical communities. Limited or absent haptic feedback is reputed to be among reasons that impede further spread of surgical robots. In this paper objectives and challenges of deploying haptic technologies in surgical robotics is discussed and a systematic review is performed on works that have studied the effects of providing haptic information to the users in major branches of robotic surgery. It has been tried to encompass both classical works and the state of the art approaches, aiming at delivering a comprehensive and balanced survey both for researchers starting their work in this field and for the experts.

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“…(11) The equivalent stiffness of the probe can now be computed by differentiation as shown in (5). The non linear result obtained is given by:…”

Section: B Second Model: a Model From Kinematic And Static Approachmentioning

confidence: 99%

“…This method gives good results but does not show what is the range of stiffness used to obtain a good estimation of the depth of the stiff inclusion. More examples of suitable probes for nodule detection in MIS are described in [5]. The main limitations of these probes are the force and the stiffness ranges.…”

Section: Introductionmentioning

confidence: 99%

A Variable Stiffness Robotic Probe for Soft Tissue Palpation

Herzig

Maiolino

Iida

et al. 2018

IEEE Robot. Autom. Lett.

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Abstract-During abdominal palpation diagnosis, a medical practitioner would change the stiffness of their fingers in order to improve the detection of hard nodules or abnormalities in soft tissue to maximise haptic information gain via tendons. Our recent experiments using a controllable stiffness robotic probe representing a human finger also confirmed that such stiffness control in the finger can enhance the accuracy of detecting hard nodules in soft tissue. However, the limited range of stiffness achieved by the antagonistic springs variable stiffness joint subject to size constraints made it unsuitable for a wide range of physical examination scenarios spanning from breast to abdominal examination. In this paper, we present a new robotic probe based on a variable lever mechanism (VLM) able to achieve stiffness ranging from 0.64 N.m/rad to 1.06 N.m/rad, that extends the maximum stiffness by around 16 times and the stiffness range by 33 times. This paper presents the mechanical model of the novel probe, the Finite Element (FE) simulation as well as experimental characterization of the stiffness response for lever actuation.

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Implementation of Tactile Sensing for Palpation in Robot-Assisted Minimally Invasive Surgery: A Review

Cited by 129 publications

References 101 publications

Development and characterization of silicone embedded distributed piezoelectric sensors for contact detection

Development and characterization of silicone embedded distributed piezoelectric sensors for contact detection

Haptics in Robot-Assisted Surgery: Challenges and Benefits

A Variable Stiffness Robotic Probe for Soft Tissue Palpation

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